CN112842395A - Scanning track planning method, storage medium and terminal equipment - Google Patents
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Abstract
The application discloses a scanning track planning method, a storage medium and a terminal device, wherein the method is used for acquiring three-dimensional data corresponding to a target part; determining a moving track corresponding to the target blood vessel based on the three-dimensional data; and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path. According to the method and the device, the moving track of the scanned blood vessel in the three-dimensional data is determined according to the three-dimensional data corresponding to the target part, and then the moving track is matched with the target image corresponding to the target part to form the scanning path, so that the scanning path can be automatically determined based on the three-dimensional data and the target image, manual operation in the scanning path planning process is reduced, the planning efficiency of the scanning path can be improved on one hand, manual misoperation can be reduced on the other hand, and the accuracy of ultrasonic scanning based on the scanning path can be improved.
Description
Technical Field
The present application relates to the field of ultrasound technologies, and in particular, to a method for planning a scanning trajectory, a storage medium, and a terminal device.
Background
Currently, clinical ultrasound scanning (for example, limb blood vessel scanning) is generally performed by manually pulling by a doctor to scan a tissue to be scanned, recording a motion track of the mechanical arm during manual pulling, and then performing ultrasound scanning by the mechanical arm according to the motion track. The way of forming the scanning path by manual drawing increases labor cost on one hand, and influences the scanning result due to manual misoperation on the other hand.
Disclosure of Invention
The technical problem to be solved by the present application is to provide a scan trajectory planning method, a storage medium, and a terminal device, aiming at the deficiencies of the prior art.
In order to solve the above technical problem, a first aspect of the embodiments of the present application provides a method for planning a scan trajectory, where the method includes:
acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel;
determining a movement track corresponding to a target blood vessel based on the three-dimensional data, wherein the movement track is included in the three-dimensional data and is positioned on the outer surface of a target part;
and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path.
The method for planning the scanning trajectory, wherein the determining the movement trajectory corresponding to the target blood vessel based on the three-dimensional data specifically includes:
slicing the three-dimensional data according to a preset direction to obtain a plurality of sliced images;
acquiring target positioning points corresponding to the tangent plane graphs respectively, wherein the target positioning points are contained in the tangent plane graphs corresponding to the target positioning points respectively;
and determining a moving track corresponding to the target blood vessel based on the obtained target positioning points, wherein the moving track is in a part contour of a target part corresponding to the target blood vessel.
The method for planning the scanning track comprises the steps that each sectional view in the sectional views comprises a cross section of a target blood vessel, and the distances between any two adjacent sectional views in the three-dimensional image data are equal.
The method for planning the scanning track, wherein the obtaining of the target positioning point corresponding to each tangent plane figure specifically includes:
for each sectional view, acquiring an image area corresponding to the target blood vessel in the sectional view;
and determining the pipe diameter central point of the target blood vessel according to the acquired image area, and taking the pipe diameter central point as a target positioning point corresponding to the section image.
The method for planning the scanning trajectory, wherein the determining the moving trajectory corresponding to the target blood vessel based on the obtained plurality of target positioning points specifically includes:
for each target positioning point, selecting a track point on the part outline of the target part, wherein the distance between the track point and the target positioning point is the minimum distance between the target positioning point and the part outline of the target part without skeleton obstruction;
and taking the obtained connecting line of the plurality of track points as a moving track corresponding to the target blood vessel.
The method for planning the scanning track includes the steps of obtaining a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path:
acquiring a target image of the target part, wherein the target image comprises depth information;
selecting a candidate part outline of the target part from the target image;
determining a candidate path corresponding to the movement track based on the candidate part contour and a part contour in the three-dimensional data, wherein the candidate path is positioned on the candidate part contour;
and taking the candidate path as a scanning path corresponding to the target blood vessel.
The method for planning the scanning trajectory, wherein after acquiring a target image of a target portion and matching the movement trajectory to the target portion based on the target image to obtain a scanning path, the method further comprises:
controlling the mechanical arm to drive the ultrasonic probe to scan the scanned blood vessel according to the scanning path so as to obtain a scanning image;
determining the vessel caliber of a target vessel and a reference distance based on the scanning image, wherein the reference distance is the distance between the target vessel and the surface of the skin;
and adjusting the scanning path according to the vessel diameter and the reference distance, and taking the adjusted scanning path as a scanning path corresponding to the target vessel.
The method for planning the scanning track, wherein the adjusting the scanning path according to the vessel diameter and the reference distance specifically includes:
if the sum of the vessel diameter and the reference distance is less than a preset distance, moving the ultrasonic probe along an ultrasonic emission central line to a direction away from the skin surface, wherein the preset distance is the minimum distance without bone obstruction between a target positioning point corresponding to the trace point corresponding to the scanned image and the part outline of the target part;
and acquiring the position information of the moved ultrasonic probe, and updating the track point corresponding to the scanned image by adopting the position information so as to adjust the scanning path.
A second aspect of embodiments of the present application provides a computer-readable storage medium storing one or more programs, which are executable by one or more processors to implement the steps in the method for planning a scan trajectory as described in any one of the above.
A third aspect of the embodiments of the present application provides a terminal device, including: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the processor, when executing the computer readable program, implements the steps in the method for planning a scan trajectory as described in any one of the above.
Has the advantages that: compared with the prior art, the application provides a scanning track planning method, a storage medium and a terminal device, wherein the method acquires three-dimensional data corresponding to a target part; determining a moving track corresponding to the target blood vessel based on the three-dimensional data; and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path. According to the method and the device, the moving track of the scanned blood vessel in the three-dimensional data is determined according to the three-dimensional data corresponding to the target part, and then the moving track is matched with the target image corresponding to the target part to form the scanning path, so that the scanning path can be automatically determined based on the three-dimensional data and the target image, manual operation in the scanning path planning process is reduced, the planning efficiency of the scanning path can be improved on one hand, manual misoperation can be reduced on the other hand, and the accuracy of ultrasonic scanning based on the scanning path can be improved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without any inventive work.
Fig. 1 is a flowchart of a scan trajectory planning method provided in the present application.
Fig. 2 is an exemplary diagram of three-dimensional data in the method for planning a scan trajectory provided in the present application.
Fig. 3 is an exemplary diagram of a sectional view in the method for planning a scanning trajectory provided in the present application.
Fig. 4 is a partially enlarged view of a sectional view in the method for planning a scanning trajectory according to the present application.
Fig. 5 is a schematic diagram of an examination path in the method for planning a scan trajectory according to the present application.
Fig. 6 is a schematic diagram of a movement trajectory in the scan trajectory planning method provided in the present application.
Fig. 7 is a schematic diagram of a target image in the method for planning a scan trajectory provided in the present application.
Fig. 8 is a schematic diagram of a projection image in the method for planning a scan trajectory provided in the present application.
Fig. 9 is a schematic diagram of a projection process in the scan trajectory planning method provided in the present application.
Fig. 10 is a schematic structural diagram of a terminal device provided in the present application.
Detailed Description
The present application provides a method for planning a scanning trajectory, a storage medium, and a terminal device, and in order to make the purpose, technical solution, and effect of the present application clearer and clearer, the present application is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
As used herein, the singular forms "a", "an", "the" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. It will be understood that when an element is referred to as being "connected" or "coupled" to another element, it can be directly connected or coupled to the other element or intervening elements may also be present. Further, "connected" or "coupled" as used herein may include wirelessly connected or wirelessly coupled. As used herein, the term "and/or" includes all or any element and all combinations of one or more of the associated listed items.
It will be understood by those within the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The inventor researches and discovers that clinical ultrasonic scanning (such as limb blood vessel scanning and the like) generally comprises the steps of firstly manually drawing by a doctor to scan tissues to be scanned, recording a motion track during manual drawing by a mechanical arm, then clamping an ultrasonic probe by the mechanical arm to carry out ultrasonic scanning on an inspection part, wherein the working mechanism of the ultrasonic scanning system is that firstly the ultrasonic doctor draws the mechanical arm to complete one-time ultrasonic scanning, the mechanical arm records a probe motion path of the scanning, and then the ultrasonic presentation is carried out on the part to be inspected according to the recorded probe motion path in an operation. The way of forming the scanning path by manual drawing increases labor cost on one hand, and influences the scanning result due to manual misoperation on the other hand.
In order to solve the above problem, in this embodiment, three-dimensional data corresponding to a target region is acquired; determining a moving track corresponding to the target blood vessel based on the three-dimensional data; and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path. According to the method and the device, the moving track of the scanned blood vessel in the three-dimensional data is determined according to the three-dimensional data corresponding to the target part, and then the moving track is matched with the target image corresponding to the target part to form the scanning path, so that the scanning path can be automatically determined based on the three-dimensional data and the target image, manual operation in the scanning path planning process is reduced, the planning efficiency of the scanning path can be improved on one hand, manual misoperation can be reduced on the other hand, and the accuracy of ultrasonic scanning based on the scanning path can be improved.
The following further describes the content of the application by describing the embodiments with reference to the attached drawings.
The present embodiment provides a method for planning a scanning trajectory, as shown in fig. 1, the method includes:
and S10, acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel.
Specifically, the target portion includes a target blood vessel, and the target blood vessel is a blood vessel to be scanned, in other words, the scan path planned by the present embodiment is used for scanning the target blood vessel. In one implementation, the target blood vessel may be a blood vessel of a limb, for example, as in the three-dimensional data shown in fig. 2, a leg portion is a target portion, and a leg blood vessel is a target blood vessel. The three-dimensional data includes target three-dimensional data of a target portion, and the target three-dimensional data includes blood vessel three-dimensional data of a target blood vessel, where the three-dimensional data may be three-dimensional image data, such as a 3D-DSA blood vessel three-dimensional image, a 3D-CT blood vessel image, an MRA blood vessel image, and the like, or a three-dimensional structure model, such as a three-dimensional structure model of a scanned blood vessel created by an ultrasound image obtained by scanning with a robotic arm ultrasound system.
And S20, determining the movement track corresponding to the target blood vessel based on the three-dimensional data.
Specifically, the movement trajectory is a virtual scanning path corresponding to the target blood vessel, and as shown in fig. 6, the movement trajectory is included in the three-dimensional data and located on the outer surface of the target portion, in other words, the movement trajectory is a virtual scanning path formed in the three-dimensional data, and each scanning point in the movement trajectory is located on the outer surface of the target portion in the three-dimensional data.
In an implementation manner of this embodiment, the determining, based on the three-dimensional data, a moving trajectory corresponding to a target blood vessel specifically includes:
slicing the three-dimensional data according to a preset direction to obtain a plurality of sliced images;
acquiring target positioning points corresponding to the tangent plane graphs respectively, wherein the target positioning points are contained in the tangent plane graphs corresponding to the target positioning points respectively;
and determining a moving track corresponding to the target blood vessel based on the obtained target positioning points, wherein the moving track is in a part contour of a target part corresponding to the target blood vessel.
Specifically, the preset direction may be determined according to a blood vessel trend of the target blood vessel, and the preset direction may be the same as or opposite to a blood flow direction in the target blood vessel. Each of the plurality of slices is included in the three-dimensional data, each slice includes a cross-section of the target blood vessel, and any two adjacent slices of the plurality of slices are equidistant in the three-dimensional image data, e.g., 1mm, 2mm, 3mm, and 5 mm. In an implementation manner of this embodiment, the three-dimensional data is in a cylindrical shape, the three-dimensional data extends along a preset direction, and accordingly, slicing the three-dimensional data according to the preset direction may be specifically that the three-dimensional data is equally divided into a plurality of data segments according to the preset direction, and for each data segment, a section of the data segment, which extends in the opposite direction to the preset direction, is selected as a section map to obtain a plurality of section maps, for example, as shown in fig. 3. Of course, in practical applications, a section of the data segment extending in a direction opposite to the predetermined direction may be selected as a sectional view.
For example, the following steps are carried out: the blood vessel to be detected is a leg blood vessel, the trend of the leg blood vessel is from the proximal end to the distal end, the proximal end is one end close to the root of the thigh, and the distal end is one end close to the foot; the preset direction is from the proximal end to the distal end, the three-dimensional data are equally divided into a plurality of data segments with the length of 3mm according to the direction from the proximal end to the distal end, the side face of each data segment facing the proximal end is selected, and the selected side face is used as a section map, so that various corresponding section maps of the data segments are obtained.
The target positioning points are contained in the respective corresponding tangent plane images, and the target positioning points are contained in the image areas corresponding to the target blood vessels. In an implementation manner of this embodiment, the obtaining target positioning points corresponding to each tangent plane specifically includes:
for each sectional view, acquiring an image area corresponding to the target blood vessel in the sectional view;
and determining the pipe diameter central point of the target blood vessel according to the acquired image area, and taking the pipe diameter central point as a target positioning point corresponding to the section image.
Specifically, the image region is a region where a target blood vessel is located in a blood vessel section in the section image, where the image region may be obtained by an image recognition method, for example, through a pre-trained recognition model, or through a conventional image recognition method, or through an edge recognition method (e.g., roberts operator, Prewitt operator, sobel operator, canny operator, Laplacian operator, etc.), and the like. In addition, after the image area is acquired, the area of the image area is determined, and the caliber central point of the target blood vessel is determined based on the area, wherein the caliber central point is included in the image area. In other words, after the image region is acquired, a target positioning point is selected in the image region, the target positioning point is a tube diameter central point of the target blood vessel, and after a plurality of target positioning points are acquired, an inspection path passing through the target blood vessel may be formed after the plurality of target positioning points are connected, for example, as shown in fig. 5, a black line segment in fig. 5 is an inspection path.
In an implementation manner of this embodiment, the determining, based on the obtained plurality of target positioning points, a movement trajectory corresponding to the target blood vessel specifically includes:
for each target positioning point, selecting a track point on the part outline of the target part;
and taking the obtained connecting line of the plurality of track points as a moving track corresponding to the target blood vessel.
Specifically, the region contour of the target region refers to a contour region of the target region in the three-dimensional data, and the region contour is an image region corresponding to the skin surface of the target region. The track point is selected from the part contour of the target part, so that the track point is one image point in the image area corresponding to the skin surface of the target part. In one implementation, after the track point is selected, the distance from the track point to the target positioning point can be determined, wherein the distance from the track point to the target positioning point includes the distance from the track point to the wall of the target blood vessel and the blood vessel radius of the target blood vessel. For example, as shown in fig. 4, the distance from the locus point to the target positioning point is equal to the vessel radius of the target vessel + the distance from the locus point to the vessel wall of the target vessel.
In an implementation of this embodiment, when adopting ultrasonic equipment to scan the target site, need fix the target site to one side of target site can contact in the fixed station, thereby each track point of choosing according to the target location point lies in the same one side of target blood vessel. In addition, human tissues such as bones and muscles exist between the skin of the target part and the target blood vessel, and the bones can block ultrasonic waves sent by the ultrasonic probe, so that the ultrasonic probe cannot acquire the target blood vessel, and therefore when a locus point is selected on the part contour of the target part, a connecting line between the locus point and the target positioning point does not include an image point in an image area corresponding to the bones, and the bone tissues do not exist between the locus point and the target positioning point.
In a specific implementation manner of this embodiment, when selecting a trajectory point, a plane where a target blood vessel is located may be obtained first, the three-dimensional data is divided into two sub-data based on the plane, an image point with the minimum bone obstruction free distance from a target locating point is selected from a position contour included in the sub-data, and the selected image point is used as the trajectory point. In other words, the distance between the track point and the target positioning point is the minimum distance between the target positioning point and the reference part contour without skeleton obstruction, wherein the reference part contour is the part contour located in the target subdata, and the target subdata is one of two subdata obtained by dividing the three-dimensional data based on the plane. It can be understood that, for any candidate image point in the reference position contour, the distance between the candidate image point and the target positioning point is greater than or equal to the distance between the trajectory point and the target positioning point, wherein the candidate image point is an image point in the position contour without bone obstruction with the target positioning point.
S30, acquiring a target image of the target part, and matching the moving track to the target part based on the target image to obtain a scanning path.
Specifically, the target image is obtained by shooting a target part through image acquisition equipment, wherein the target image carries depth information. For example, the image capturing device is a depth camera, and the target image is a target image captured by the depth camera to obtain the target image. The scanning path is a moving path corresponding to the skin surface of the target part, and the probe is driven by the mechanical arm to move on the target part along the scanning path, so that the ultrasonic image of the target blood vessel can be scanned. In an implementation manner of this embodiment, the image content included in the target image is included in the reference sub-data, in other words, the reference sub-data includes image features in the target image, so that the reference sub-data and the target image can be feature-matched to map the movement track onto the target image, so as to obtain the scanning path.
Based on this, the acquiring a target image of a target portion, and matching the movement trajectory to the target portion based on the target image to obtain a scanning path specifically includes:
acquiring a target image of the target part, wherein the target image comprises depth information;
selecting a candidate part outline of the target part from the target image;
determining a candidate path corresponding to the movement track based on the candidate part contour and a part contour in the three-dimensional data, wherein the candidate path is positioned on the candidate part contour;
and taking the candidate path as a scanning path corresponding to the target blood vessel.
Specifically, the target image is a gray-scale image and carries image information and depth information of a target part, wherein the target image can be an image of the target image acquired by a depth camera. The candidate part contour refers to a part edge of the target part in the target image, and the candidate part contour may be obtained by means of edge recognition, for example, a sobel operator is used to recognize the part edge of the target part.
After the candidate part contour is obtained, the three-dimensional data is projected according to the shooting direction of the target image to obtain a projected image, and the target image is matched with the projected image so as to align the target image with the projected image. In one implementation, as shown in fig. 7, 8 and 9, the matching method may employ determining a plurality of candidate cross sections corresponding to the target portion according to the candidate portion contour, and determining a plurality of projection cross sections corresponding to the target portion according to the projection contour; connecting adjacent two cross sections in the plurality of candidate cross sections along the candidate part outline to form a plurality of candidate quadrangles, and connecting adjacent two projection cross sections in the plurality of projection cross sections along the projection part outline to form a plurality of projection quadrangles; and finally, matching each candidate quadrangle with the plurality of projection quadrangles to align the target image with the projection image. And after the target image is aligned with the projection image, matching the moving track to the target image to obtain a scanning path corresponding to the target blood vessel.
In one implementation manner of this embodiment, after the obtaining a target image of a target portion and matching the movement trajectory to the target portion based on the target image to obtain a scan path, the method further includes:
controlling the mechanical arm to drive the ultrasonic probe to scan the scanned blood vessel according to the scanning path so as to obtain a scanning image;
determining the vessel caliber and the reference distance of a target vessel based on the scanning image;
and adjusting the scanning path according to the vessel diameter and the reference distance, and taking the adjusted scanning path as a scanning path corresponding to the target vessel.
Specifically, the scanning image is an ultrasonic image acquired by the mechanical arm driving the ultrasonic probe to move on the surface of the skin according to a scanning path, and each scanning image corresponds to one scanning point on the scanning path and the scanning point corresponds to one track point on the moving track, so that the scanning image corresponds to one target positioning point. Therefore, after the scanning image is acquired, the target positioning point corresponding to the scanning image adjusts the scanning point corresponding to the scanning image so as to adjust the scanning path. The reference distance is the distance between a target blood vessel and the surface of the skin, wherein the blood vessel caliber of the target blood vessel is the blood vessel caliber in the emission direction of the ultrasonic central line, and the reference distance is the distance between the blood vessel in the emission direction of the ultrasonic central line and the surface of the skin in the target image.
In an implementation manner of this embodiment, the adjusting the scanning path according to the vessel caliber and the reference distance specifically includes:
if the sum of the vessel diameter and the reference distance is less than a preset distance, moving the ultrasonic probe along an ultrasonic emission central line to a direction away from the skin surface, wherein the preset distance is the minimum distance without bone obstruction between a target positioning point corresponding to the trace point corresponding to the scanned image and the part outline of the target part;
and acquiring the position information of the moved ultrasonic probe, and updating the track point corresponding to the scanned image by adopting the position information so as to adjust the scanning path.
Specifically, the preset distance is a distance between the target location point and a track point corresponding to the target location point in the moving track, in other words, the preset distance is a sum of a vessel diameter determined when the scanning path is planned and a distance from the vessel to the skin. When the sum of the vessel diameter and the reference distance is smaller than the preset distance, the mechanical arm is adjusted to drive the ultrasonic probe to move a target distance to the direction far away from the skin along the direction of the ultrasonic emission center line, wherein the target distance is the difference value of the preset distance and the reference distance, and the reference distance is the sum of the vessel diameter and the reference distance. In addition, when the mechanical arm moves, if the target distance is smaller than the movement precision of the mechanical arm probe, the mechanical arm does not move, and the tissue examination path and the mechanical arm scanning path do not need to be updated. And if the target distance is greater than the moving precision of the mechanical arm probe, planning the target distance into an integer step of the target distance/the moving precision of the mechanical arm probe, and controlling the mechanical arm to move according to the step. And after the mechanical arm finishes moving, acquiring the position information of the moved ultrasonic probe, and updating the track point corresponding to the scanned image by adopting the position information so as to adjust the scanning path. Therefore, the skin surface scanning path is updated by acquiring the actual distance between the target blood vessel and the skin surface determined by the ultrasonic image, and the accuracy of the scanning path can be improved.
In summary, the present embodiment provides a method for planning a scanning trajectory, where the method obtains three-dimensional data corresponding to a target portion; determining a moving track corresponding to the target blood vessel based on the three-dimensional data; and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path. According to the method and the device, the moving track of the scanned blood vessel in the three-dimensional data is determined according to the three-dimensional data corresponding to the target part, and then the moving track is matched with the target image corresponding to the target part to form the scanning path, so that the scanning path can be automatically determined based on the three-dimensional data and the target image, manual operation in the scanning path planning process is reduced, the planning efficiency of the scanning path can be improved on one hand, manual misoperation can be reduced on the other hand, and the accuracy of ultrasonic scanning based on the scanning path can be improved.
Based on the above-mentioned scan trajectory planning method, the present embodiment provides a computer-readable storage medium, which stores one or more programs, where the one or more programs are executable by one or more processors to implement the steps in the scan trajectory planning method according to the above-mentioned embodiment.
Based on the above method for planning a scanning trajectory, the present application further provides a terminal device, as shown in fig. 10, which includes at least one processor (processor) 20; a display screen 21; and a memory (memory) 22, and may further include a communication Interface (Communications Interface)23 and a bus 24. The processor 20, the display 21, the memory 22 and the communication interface 23 can communicate with each other through the bus 24. The display screen 21 is configured to display a user guidance interface preset in the initial setting mode. The communication interface 23 may transmit information. The processor 20 may call logic instructions in the memory 22 to perform the methods in the embodiments described above.
Furthermore, the logic instructions in the memory 22 may be implemented in software functional units and stored in a computer readable storage medium when sold or used as a stand-alone product.
The memory 22, which is a computer-readable storage medium, may be configured to store a software program, a computer-executable program, such as program instructions or modules corresponding to the methods in the embodiments of the present disclosure. The processor 20 executes the functional application and data processing, i.e. implements the method in the above-described embodiments, by executing the software program, instructions or modules stored in the memory 22.
The memory 22 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. Further, the memory 22 may include a high speed random access memory and may also include a non-volatile memory. For example, a variety of media that can store program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, may also be transient storage media.
In addition, the specific processes loaded and executed by the storage medium and the instruction processors in the terminal device are described in detail in the method, and are not stated herein.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions in the embodiments of the present application.
Claims (10)
1. A method for planning a scan trajectory, the method comprising:
acquiring three-dimensional data corresponding to a target part, wherein the target part comprises a target blood vessel;
determining a movement track corresponding to a target blood vessel based on the three-dimensional data, wherein the movement track is included in the three-dimensional data and is positioned on the outer surface of a target part;
and acquiring a target image of a target part, and matching the moving track to the target part based on the target image to obtain a scanning path.
2. The scan trajectory planning method according to claim 1, wherein the determining, based on the three-dimensional data, the movement trajectory corresponding to the target blood vessel specifically includes:
slicing the three-dimensional data according to a preset direction to obtain a plurality of sliced images;
acquiring target positioning points corresponding to the tangent plane graphs respectively, wherein the target positioning points are contained in the tangent plane graphs corresponding to the target positioning points respectively;
and determining a moving track corresponding to the target blood vessel based on the obtained target positioning points, wherein the moving track is in a part contour of a target part corresponding to the target blood vessel.
3. The method of claim 2, wherein each of the plurality of slices includes a cross-section of the target vessel, and any two adjacent slices of the plurality of slices are equidistant from each other in the three-dimensional image data.
4. The method for planning a scanning trajectory according to claim 3, wherein the obtaining of the target positioning point corresponding to each tangent plane specifically comprises:
for each sectional view, acquiring an image area corresponding to the target blood vessel in the sectional view;
and determining the pipe diameter central point of the target blood vessel according to the acquired image area, and taking the pipe diameter central point as a target positioning point corresponding to the section image.
5. The method for planning a scanning trajectory according to claim 3, wherein the determining, based on the obtained plurality of target positioning points, the movement trajectory corresponding to the target blood vessel specifically includes:
for each target positioning point, selecting a track point on the part outline of the target part, wherein the distance between the track point and the target positioning point is the minimum distance between the target positioning point and the part outline of the target part without skeleton obstruction;
and taking the obtained connecting line of the plurality of track points as a moving track corresponding to the target blood vessel.
6. The method for planning a scanning trajectory according to claim 1, wherein the acquiring a target image of a target portion and matching the movement trajectory to the target portion based on the target image to obtain the scanning path specifically comprises:
acquiring a target image of the target part, wherein the target image comprises depth information;
selecting a candidate part outline of the target part from the target image;
determining a candidate path corresponding to the movement track based on the candidate part contour and a part contour in the three-dimensional data, wherein the candidate path is positioned on the candidate part contour;
and taking the candidate path as a scanning path corresponding to the target blood vessel.
7. The method for planning a scan trajectory according to claim 1, wherein after the obtaining a target image of a target portion and matching the movement trajectory to the target portion based on the target image to obtain the scan path, the method further comprises:
controlling the mechanical arm to drive the ultrasonic probe to scan the scanned blood vessel according to the scanning path so as to obtain a scanning image;
determining the vessel caliber of a target vessel and a reference distance based on the scanning image, wherein the reference distance is the distance between the target vessel and the surface of the skin;
and adjusting the scanning path according to the vessel diameter and the reference distance, and taking the adjusted scanning path as a scanning path corresponding to the target vessel.
8. The method for planning a scanning trajectory according to claim 7, wherein the adjusting the scanning path according to the vessel caliber and the reference distance specifically comprises:
if the sum of the vessel diameter and the reference distance is less than a preset distance, moving the ultrasonic probe along an ultrasonic emission central line to a direction away from the skin surface, wherein the preset distance is the minimum distance without bone obstruction between a target positioning point corresponding to the trace point corresponding to the scanned image and the part outline of the target part;
and acquiring the position information of the moved ultrasonic probe, and updating the track point corresponding to the scanned image by adopting the position information so as to adjust the scanning path.
9. A computer-readable storage medium storing one or more programs, the one or more programs being executable by one or more processors to perform the steps of the method for planning a scan trajectory according to any one of claims 1 to 8.
10. A terminal device, comprising: a processor, a memory, and a communication bus; the memory has stored thereon a computer readable program executable by the processor;
the communication bus realizes connection communication between the processor and the memory;
the processor, when executing the computer readable program, implements the steps in the method for planning a scan trajectory according to any one of claims 1 to 8.
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